[Chris Fultz]

we did a test with a kit robot and various wheel widths and diameters.
when we got done, we could not make sense of the data.

we made a test robot and used a pull scale. The robot was set in a frame, with carpet on the floor. We set the control system to ramp up the motor power at a predetermined rate. we ramped up until the wheels broke free and recorded the pulling force at that break point.

I think this test could easily be repeated with various types of wheel treads, using the bridge material instead of carpet.